From 1e0f76b02c3766f2f1b5bd6b7362c0c993ffee67 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 30 Nov 2020 15:41:32 +0100 Subject: Add a 2D demo for locking rotation. --- examples2d/all_examples2.rs | 2 ++ examples2d/locked_rotation2.rs | 63 ++++++++++++++++++++++++++++++++++++++++++ examples2d/platform2.rs | 2 +- examples3d/locked_rotation3.rs | 4 +-- src/dynamics/rigid_body.rs | 4 +-- src_testbed/box2d_backend.rs | 2 +- src_testbed/testbed.rs | 7 ++--- 7 files changed, 73 insertions(+), 11 deletions(-) create mode 100644 examples2d/locked_rotation2.rs diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs index 92606d8..dda50d6 100644 --- a/examples2d/all_examples2.rs +++ b/examples2d/all_examples2.rs @@ -16,6 +16,7 @@ mod damping2; mod debug_box_ball2; mod heightfield2; mod joints2; +mod locked_rotation2; mod platform2; mod pyramid2; mod restitution2; @@ -59,6 +60,7 @@ pub fn main() { ("Damping", damping2::init_world), ("Heightfield", heightfield2::init_world), ("Joints", joints2::init_world), + ("Locked rotations", locked_rotation2::init_world), ("Platform", platform2::init_world), ("Pyramid", pyramid2::init_world), ("Restitution", restitution2::init_world), diff --git a/examples2d/locked_rotation2.rs b/examples2d/locked_rotation2.rs new file mode 100644 index 0000000..f3d7fc2 --- /dev/null +++ b/examples2d/locked_rotation2.rs @@ -0,0 +1,63 @@ +use na::Point2; +use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed2d::Testbed; + +// This shows a bug when a cylinder is in contact with a very large +// but very thin cuboid. In this case the EPA returns an incorrect +// contact normal, resulting in the cylinder falling through the floor. +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * The ground + */ + let ground_size = 5.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * A rectangle that only rotate. + */ + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 3.0) + .lock_translations() + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(2.0, 0.6).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * A tilted capsule that cannot rotate. + */ + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 5.0) + .rotation(1.0) + .lock_rotations() + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::capsule_y(0.6, 0.4).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point2::new(0.0, 0.0), 40.0); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs index 3f55cb6..20b2e59 100644 --- a/examples2d/platform2.rs +++ b/examples2d/platform2.rs @@ -61,7 +61,7 @@ pub fn init_world(testbed: &mut Testbed) { * Setup a callback to control the platform. */ testbed.add_callback(move |_, physics, _, _, time| { - let mut platform = physics.bodies.get_mut(platform_handle).unwrap(); + let platform = physics.bodies.get_mut(platform_handle).unwrap(); let mut next_pos = *platform.position(); let dt = 0.016; diff --git a/examples3d/locked_rotation3.rs b/examples3d/locked_rotation3.rs index b44b4d5..e8aee41 100644 --- a/examples3d/locked_rotation3.rs +++ b/examples3d/locked_rotation3.rs @@ -40,9 +40,7 @@ pub fn init_world(testbed: &mut Testbed) { colliders.insert(collider, handle, &mut bodies); /* - * A capsule that cannot rotate. - * We initialize it in a tilted position to demonstrate the - * fact that is cannot rotate. + * A tilted capsule that cannot rotate. */ let rigid_body = RigidBodyBuilder::new_dynamic() .translation(0.0, 5.0, 0.0) diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 9832ff7..98ae47a 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -634,7 +634,7 @@ impl RigidBodyBuilder { /// /// This is equivalent to `self.mass(0.0, false)`. See the /// documentation of [`RigidBodyBuilder::mass`] for more details. - pub fn lock_translations(mut self) -> Self { + pub fn lock_translations(self) -> Self { self.mass(0.0, false) } @@ -644,7 +644,7 @@ impl RigidBodyBuilder { /// `self.principal_inertia(Vector3::zeros(), Vector3::repeat(false))` (in 3D). /// /// See the documentation of [`RigidBodyBuilder::principal_inertia`] for more details. - pub fn lock_rotations(mut self) -> Self { + pub fn lock_rotations(self) -> Self { #[cfg(feature = "dim2")] return self.principal_inertia(0.0, false); #[cfg(feature = "dim3")] diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs index 0d0664f..f448a6f 100644 --- a/src_testbed/box2d_backend.rs +++ b/src_testbed/box2d_backend.rs @@ -219,7 +219,7 @@ impl Box2dWorld { } pub fn sync(&self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet) { - for (handle, mut body) in bodies.iter_mut() { + for (handle, body) in bodies.iter_mut() { if let Some(pb2_handle) = self.rapier2box2d.get(&handle) { let b2_body = self.world.body(*pb2_handle); let pos = b2_transform_to_na_isometry(b2_body.transform().clone()); diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 5557b2c..0881d05 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -20,12 +20,11 @@ use na::{self, Point2, Point3, Vector3}; use rapier::dynamics::{ ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet, }; -#[cfg(feature = "dim3")] -use rapier::geometry::Ray; use rapier::geometry::{ - BroadPhase, ColliderHandle, ColliderSet, ContactEvent, InteractionGroups, NarrowPhase, - ProximityEvent, + BroadPhase, ColliderHandle, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, }; +#[cfg(feature = "dim3")] +use rapier::geometry::{InteractionGroups, Ray}; use rapier::math::Vector; use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; -- cgit